Imaging device, method and system of providing fill light, and movable object

ABSTRACT

An imaging device includes an image sensor, a fill light lamp, and a controller configured to obtain an automatic exposure parameter of the image sensor, and control an illumination intensity of the fill light lamp based on the automatic exposure parameter by adjusting the illumination intensity to a preset value when the automatic exposure parameter falls within an automatic exposure parameter range.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of application Ser. No.16/678,075, filed on Nov. 8, 2019, which is a continuation applicationof application Ser. No. 16/216,018, filed on Dec. 11, 2018, now U.S.Pat. No. 10/477,116, which is a continuation application of applicationSer. No. 15/722,473, filed on Oct. 2, 2017, now U.S. Pat. No.10,171,749, which is a continuation application of InternationalApplication No. PCT/CN2015/075595, filed on Mar. 31, 2015, the entirecontents of all of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to an imaging system, and in particularto an imaging device, a method and system of providing fill light forthe imaging device, and a movable object.

BACKGROUND OF THE DISCLOSURE

A fill light can be required for an imaging system to capture images ina low illumination environment such as in the night. Existing imagingsystems in mobile phones and cameras employ an automatic flash toprovide a fill light. First, a conventional lighting is emitted toprovide a tentative fill light, and an image quality under the tentativefill light is obtained using an imaging element such as a charge coupleddevice (CCD) image sensor. Then, parameters such as a focus and anexposure are adjusted in real-time through a computation, and thus anappropriate fill light is provided to capture an image havingsatisfactory image quality.

Digital devices such as mobile phones and cameras are designed tocapture images having the best quality to meet user expectations, andtherefore a series of processes have to be performed including providinga tentative fill light, detecting image quality, adjusting a focus andan exposure, providing an appropriate fill light and capturing an image.The series of processes can take a few seconds and significantcomputational resources are needed.

However, imaging systems of aerial vehicles and robots impose a highrequirement on real time imaging processing in performing a continuousimaging. Due to limited computational resources of imaging systems ofaerial vehicles and robots, the conventional method of providing filllight is inadequate in view of the large time delay and significantcomputational resource consumption. Therefore, the conventional methodof providing fill light is not suitable for visual imaging systems inaerial vehicles and robots.

SUMMARY OF THE DISCLOSURE

There is a need for an imaging device having a less computationalresource consumption and improved real time performance. There is also aneed for a method and system of providing fill light for the imagingdevice.

An aspect of the disclosure discloses a method of providing fill light,said method comprising:

obtaining an automatic exposure parameter of an image sensor; and

controlling a fill light lamp to provide an automatic fill light basedupon the automatic exposure parameter.

The method as described hereinabove can be advantageous in variousaspects over conventional methods of providing fill light.

For instance, with the method of providing fill light as describedhereinabove, an ambient illumination condition can be detected using anexposure parameter of the imaging system, and a fill light can becontrolled based upon the automatic exposure parameter without detectinga quality of an image obtained in the presence of a tentative filllight. The computational resource consumption can be decreased and thereal time performance can be improved.

For instance, with the method of providing fill light as describedhereinabove, the automatic exposure parameter can be used as a feedbackto a fill light parameter and there's no need to modify a configurationof the imaging system. Therefore, the method of present disclosure canbe more suitable for a positioning and imaging system of an aerialvehicle than the conventional methods of providing a fill light.

In some embodiments, the automatic exposure parameter of the imagesensor can comprise at least one of an automatic exposure time or anautomatic exposure gain.

In some embodiments, controlling the fill light lamp to provide theautomatic fill light can comprise:

controlling a power switch of the fill light lamp based upon theautomatic exposure parameter.

In some embodiments, controlling the power switch of the fill light lampcan comprise:

turning off the power switch of the fill light lamp if the automaticexposure parameter satisfies a preset condition; and/or

turning on the power switch of the fill light lamp if the automaticexposure parameter does not satisfy the preset condition.

In some embodiments, controlling the fill light lamp to provide theautomatic fill light can comprise:

controlling an illumination intensity of the fill light lamp based uponthe automatic exposure parameter.

In some embodiments, controlling the illumination intensity of the filllight lamp can further comprise:

maintaining the illumination intensity of the fill light lamp if theautomatic exposure parameter satisfies a preset condition; and/or

adjusting the illumination intensity of the fill light lamp if theautomatic exposure parameter does not satisfy the preset condition.

In some embodiments, obtaining the automatic exposure parameter of theimage sensor can comprise:

obtaining an automatic exposure parameter of consecutive image frames.

In some embodiments, controlling the fill light lamp to provide theautomatic fill light based upon the automatic exposure parameter cancomprise:

controlling the fill light lamp to provide the automatic fill lightbased upon the automatic exposure parameter of each image frame.

In some embodiments, the automatic exposure parameter of each imageframe can be used to control the illumination intensity of the filllight lamp in obtaining a next image frame.

In some embodiments, a number of frames of the consecutive image framescan be less than a preset number of frames; and/or

a frame rate of the consecutive image frames can be less than a presetframe rate.

In some embodiments, obtaining the automatic exposure parameter of theimage sensor can comprise:

obtaining the automatic exposure parameter of a current image of theimage sensor in real-time.

In some embodiments, controlling the fill light lamp to provide theautomatic fill light based upon the automatic exposure parameter cancomprise:

calculating an automatic fill light parameter of a next image based uponthe automatic exposure parameter of the current image;

controlling in real-time the fill light lamp to provide a fill lightbased upon the automatic fill light parameter.

In some embodiments, said method can further comprise:

repeatedly performing the method of providing fill light until the imagesensor stops obtaining images.

In some embodiments, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or the illuminationintensity of the fill light lamp.

In some embodiments, calculating the automatic fill light parameter ofthe next image can comprise:

adjusting the illumination intensity of the fill light of the next imageby a preset increment if the automatic exposure parameter of the currentimage does not satisfy a preset condition.

In some embodiments, the preset increment can correspond to a presetautomatic exposure parameter; or

the preset increment can gradually decrease with an increasing number ofconsecutive adjustments of the illumination intensity of the fill light.

Another aspect of the disclosure discloses a system of providing filllight, said system comprising:

an exposure parameter acquisition module configured to obtain anautomatic exposure parameter of an image sensor; and

a fill light module configured to control a fill light lamp to providean automatic fill light based upon the automatic exposure parameter.

In some embodiments, the automatic exposure parameter can comprise atleast one of an automatic exposure time or an automatic exposure gain.

In some embodiments, the fill light module can comprise:

a power switch control module configured to control a power switch ofthe fill light lamp based upon the automatic exposure parameter.

In some embodiments, the power switch control module can be furtherconfigured to:

turn off the power switch of the fill light lamp if the automaticexposure parameter satisfies a preset condition; and/or

turn on the power switch of the fill light lamp if the automaticexposure parameter does not satisfy the preset condition.

In some embodiments, the fill light module can comprise:

an illumination intensity control module configured to control anillumination intensity of the fill light lamp based upon the automaticexposure parameter.

In some embodiments, the illumination intensity control module can befurther configured to:

maintain the illumination intensity of the fill light lamp if theautomatic exposure parameter satisfies a preset condition; and/or

adjust the illumination intensity of the fill light lamp if theautomatic exposure parameter does not satisfy the preset condition.

In some embodiments, the exposure parameter acquisition module can befurther configured to obtain an automatic exposure parameter ofconsecutive image frames.

In some embodiments, the fill light module can be further configured tocontrol the fill light lamp to provide the automatic fill light basedupon the automatic exposure parameter of each image frame.

In some embodiments, the automatic exposure parameter of each imageframe can be used to control the illumination intensity of the filllight lamp in obtaining a next image frame.

In some embodiments, a number of frames of the consecutive image framescan be less than a preset number of frames; and/or

a frame rate of the consecutive image frames can be less than a presetframe rate.

In some embodiments, the exposure parameter acquisition module can beconfigured to obtain the automatic exposure parameter of a current imageof the image sensor in real-time.

In some embodiments, the fill light module can comprise:

a calculation module configured to calculate an automatic fill lightparameter of a next image based upon the automatic exposure parameter ofthe current image;

a control module configured to control in real-time the fill light lampto provide a fill light based upon the automatic fill light parameter.

In some embodiments, said system of providing fill light can furthercomprise:

an execution module configured to direct the exposure parameteracquisition module and the fill light module to repeatedly perform untilthe image sensor stops obtaining images.

In some embodiments, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or the illuminationintensity of the fill light lamp.

In some embodiments, the calculation module can be configured to:

adjust the illumination intensity of the fill light of the next image bya preset increment if the automatic exposure parameter of the currentimage does not satisfy a preset condition.

In some embodiments, the preset increment can correspond to a presetautomatic exposure parameter; or

the preset increment can gradually decrease with an increasing number ofconsecutive adjustments of the illumination intensity of the fill light.

Another aspect of the disclosure discloses an imaging device,comprising:

an image sensor configured to obtain images;

a fill light lamp configured to provide a fill light to an ambientenvironment of the image sensor; and

a controller configured to obtain an exposure parameter of the imagesensor and control the fill light lamp to provide an automatic filllight based upon the automatic exposure parameter.

In some embodiments, the automatic exposure parameter of the imagesensor can comprise at least one of an automatic exposure time or anautomatic exposure gain.

In some embodiments, the controller can be configured to control a powerswitch of the fill light lamp based upon the automatic exposureparameter.

In some embodiments, the controller can be configured to turn off thepower switch of the fill light lamp if the automatic exposure parametersatisfies a preset condition; and/or

the controller can be configured to turn on the power switch of the filllight lamp if the automatic exposure parameter does not satisfy thepreset condition.

In some embodiments, the controller can be configured to control anillumination intensity of the fill light lamp based upon the automaticexposure parameter.

In some embodiments, the controller can be configured to control thefill light lamp to maintain the illumination intensity if the automaticexposure parameter satisfies a preset condition; and/or

the controller can be configured to control the fill light lamp toadjust the illumination intensity if the automatic exposure parameterdoes not satisfy the preset condition.

In some embodiments, the controller can be configured to obtain anautomatic exposure parameter of consecutive image frames.

In some embodiments, the controller can be further configured to controlthe fill light lamp to provide the automatic fill light based upon theautomatic exposure parameter of each image frame.

In some embodiments, a frame rate of the consecutive image frames can be10 Hz to 20 Hz.

In some embodiments, a number of frames of the consecutive image framescan be less than a preset number of frames; and/or

a frame rate of the consecutive image frames can be less than a presetframe rate.

In some embodiments, the controller can be configured to obtain theautomatic exposure parameter of a current image of the image sensor inreal-time.

In some embodiments, the controller can be further configured tocalculate an automatic fill light parameter of a next image based uponthe automatic exposure parameter of the current image, and to control inreal-time the fill light lamp to provide a fill light based upon theautomatic fill light parameter.

In some embodiments, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or the illuminationintensity of the fill light lamp.

In some embodiments, the controller can be configured to adjust theillumination intensity of the fill light of the next image by a presetincrement if the automatic exposure parameter of the current image doesnot satisfy a preset condition.

In some embodiments, the preset increment can correspond to a presetautomatic exposure parameter; or

the preset increment can gradually decrease with an increasing number ofconsecutive adjustments of the illumination intensity of the fill light.

The disclosure also provides a movable object having the imaging device.

Another aspect of the disclosure discloses a movable object, comprising:

the imaging device as described hereinabove; and

a processor configured to process images obtained by the imaging device.

In some embodiments, the movable object can be an unmanned aerialvehicle or a robot.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart of a method of providing fill light in accordancewith embodiments of the disclosure;

FIG. 2 is a flowchart of an example of the method of providing filllight in FIG. 1;

FIG. 3 is a flowchart of another example of the method of providing filllight in FIG. 1;

FIG. 4 is a flowchart of yet another example of the method of providingfill light in FIG. 1;

FIG. 5 shows a block diagram of a system of providing fill light inaccordance with embodiments of the disclosure;

FIG. 6 is a block diagram of an example of the system of providing filllight in FIG. 5;

FIG. 7 is a block diagram of another example of the system of providingfill light in FIG. 5;

FIG. 8 is a block diagram of yet another example of the system ofproviding fill light in FIG. 5;

FIG. 9 shows a schematic diagram of an imaging device in accordance withembodiments of the disclosure; and

FIG. 10 shows a schematic diagram of a movable object in accordance withembodiments of the disclosure.

LIST OF REFERENCE NUMERALS

TABLE 1 Step a, b, S101, S102, S103, S104, S105, S106, S201, S202, S203,S204, S205, S206, S207, S208, S209, S210, S301, S302, S303, S304, S305,S306, S307, S308, S309, S310 System of providing fill light 100 Exposureparameter acquisition module 110 Automatic exposure unit 111 Exposureparameter acquisition unit 113 Fill light module 120 Illuminationintensity control module 121 Power switch control module 123 Exposureparameter determination unit 221, 321 Illumination intensity maintainingunit 223, 323, 423 Illumination intensity adjustment unit 225, 325, 425Automatic fill light unit 227 First fill light illuminationdetermination unit 322 Second fill light illumination determination unit326 Fill light lamp switching-off unit 324, 424 Fill light lampswitching-on unit 328, 428 Automatic fill light unit 327 Fill lightillumination determination unit 422 First exposure parameterdetermination unit 421 Second exposure parameter determination unit 426Automatic fill light unit 427 Imaging device 200 Image sensor 210 Filllight lamp 220 Controller 230 Processor 300 Movable object  10

DETAILED DESCRIPTION OF THE DISCLOSURE

A better understanding of the disclosure will be obtained by referenceto the following detailed description that sets forth illustrativeembodiments with reference to the drawings. It will be apparent that,the embodiments described herein are merely provided by way of exampleonly. Those skilled in the art can conceive other embodiments in lightof those embodiments disclosed herein without inventive efforts, and allthese embodiments are within the scope of the disclosure.

It is apparent that, if a component is described as “being fixed to”another component, it can be directly fixed to the other component, oran intermediate component can be provided therebetween. If a componentis described as “being coupled to” another component, it can be directlycoupled to the other component, or an intermediate component can beprovided therebetween. Terms such as “vertical”, “horizontal”, “left”,“right”, as used in the disclosure, are merely illustrative.

Unless otherwise defined, technical and scientific terms, as used in thedisclosure, have the same meaning as commonly understood by thoseskilled in the field of the disclosure. The terms as used in thedisclosure are intended to illustrate the embodiments, not to limit thedisclosure. The term “and/or”, as used in the disclosure, comprises anyand all combinations of one or more items as listed.

Embodiments of the disclosure provide a method of providing fill light.The method can control a fill light lamp to provide an automatic filllight based upon an automatic exposure parameter of an image sensor.

In some embodiments, the method of providing fill light can control thefill light lamp to be switched on or off based upon the automaticexposure parameter of the image sensor. For instance, a power switch ofthe fill light lamp can be turned off if the automatic exposureparameter satisfies a preset condition. Otherwise, the power switch ofthe fill light lamp can be turned on if the automatic exposure parameterdoes not satisfy the preset condition.

In some embodiments, the method of providing fill light can control anillumination intensity of the fill light lamp based upon the automaticexposure parameter of the image sensor. For instance, the illuminationintensity of the fill light lamp can be maintained if the automaticexposure parameter satisfies a preset condition. Otherwise, theillumination intensity of the fill light lamp can be adjusted if theautomatic exposure parameter does not satisfy the preset condition.

In some embodiments, an automatic exposure parameter of each image framecan be used to control the illumination intensity of the fill light lampin capturing a next image frame. The fill light lamp can be controlledto provide an automatic fill light based upon the automatic exposureparameter of each image frame in consecutive image frames.

In some embodiments, the number of frames of the consecutive imageframes can be less than a preset number of frames. For example, thenumber of frames of the consecutive image frames can be less than 100.

In some embodiments, a frame rate of the consecutive image frames can beless than a preset frame rate. For example, the frame rate of theconsecutive image frames can be less than 100 Hz. In an illustrativeembodiment, the frame rate of the consecutive image frames can be 10 Hzto 20 Hz.

In some embodiments, the automatic exposure parameter of each imageframe can be used to control the illumination intensity of the filllight lamp in capturing the next image frame.

Based upon the method of providing fill light, embodiments of thedisclosure also provide an imaging device embodying the method ofproviding fill light.

The imaging device can comprise an image sensor, a fill light lamp and acontroller. The image sensor can capture an image. The fill light lampcan provide a fill light to an external environment of the image sensor.The controller can obtain an automatic exposure parameter of the imagesensor, and control the fill light lamp to provide an automatic filllight based upon the automatic exposure parameter.

Illustrative embodiments of the disclosure will be described withreference to the drawings. The embodiments and features can be combinedwith one another provided that they are technically compatible.

Referring to FIG. 1, a method of providing fill light in accordance withembodiments of the disclosure can comprise steps a and b.

In step a, an automatic exposure parameter of an image sensor can beobtained.

In some embodiments, an automatic exposure parameter of a current imageof the image sensor can be obtained in real-time.

The automatic exposure parameter of the image sensor can comprise anautomatic exposure time and an automatic exposure gain. In someembodiments, one of the automatic exposure time and the automaticexposure gain can be selected as a reference parameter in controlling afill light lamp. Alternatively, the automatic exposure time and theautomatic exposure gain can both be selected as reference parameters incontrolling the fill light lamp.

The process of obtaining the automatic exposure parameter of the imagesensor can be implemented with various approaches. For instance, takingthe consecutive image frames shown in FIG. 2 as an example, step a cancomprise the following steps.

In step S101, an automatic exposure can be performed by an imagingsystem when the image sensor captures each image frame of theconsecutive image frames.

In capturing images in different external environments (for example, indaylight or at night), the image sensor can automatically adjust anexposure based upon an intensity of ambient light to prevent anoverexposure or an underexposure. In other words, the image sensor canperform an automatic exposure based upon a sensed intensity of ambientlight.

In some embodiments, the image sensor can perform a continuous exposurein obtaining the consecutive image frames, where an automatic exposuretime and an automatic exposure gain of each automatic exposure can beautomatically adjusted based upon an intensity of ambient light inobtaining each image frame.

In step S102, an automatic exposure parameter of each image frame can beobtained.

In some embodiments, an automatic exposure parameter of each image framecan be obtained in capturing each image frame of the consecutive imageframes. In some instances, an automatic exposure time and an automaticexposure gain of each image frame can be obtained.

In step b, the fill light lamp can be controlled to provide an automaticfill light based upon the automatic exposure parameter.

When the fill light lamp is used to provide a fill light illumination, adetermination to decrease an illumination intensity of the fill lightcan be made if the automatic exposure time of the imaging system isrelatively short and the exposure gain is relatively low. Likewise, adetermination to increase the illumination intensity of the fill lightcan be made if the automatic exposure time is relatively long and theautomatic exposure gain is relatively high.

It will be appreciated that, the illumination intensity of the filllight lamp can be controlled based upon the automatic exposureparameter, such that the illumination intensity of the fill light lampcan be rapidly adjusted based upon the automatic exposure parameter tocontrol the fill light lamp in real-time.

The process of controlling the illumination intensity of the fill lightlamp based upon the automatic exposure parameter can be implemented withvarious approaches. In some embodiments, the illumination intensity ofthe fill light lamp can be maintained if the automatic exposureparameter satisfies a preset condition, and the illumination intensityof the fill light lamp can be adjusted if the automatic exposureparameter does not satisfy the preset condition. For instance, theillumination intensity of the fill light lamp can be increased if theautomatic exposure parameter is above a preset exposure parameter range,and the illumination intensity of the fill light lamp can be decreasedif the automatic exposure parameter is below the preset exposureparameter range. The illumination intensity of the fill light lamp canbe maintained if the automatic exposure parameter is within the presetexposure parameter range.

When the fill light lamp is not used, the automatic exposure time of theimaging system can be relatively short and the exposure gain can be lowif an illumination of the external environment of the image sensor isrelatively intense. In this situation, a determination that the filllight illumination is not needed can be made automatically, and the filllight lamp can be switched off. On the other hand, the automaticexposure time and the automatic exposure gain can be significantlyincreased if the external environment of the image sensor is dim and theillumination is insufficient. In this situation, a determination thatthe fill light illumination is needed can be made automatically, and thefill light lamp can be switched on.

It will be appreciated that, the automatic exposure parameter can beused as a control parameter of the fill light lamp to automaticallycontrol a power switch of the fill light lamp, such that the fill lightlamp can be timely switched off if it is not to be used. An energyconsumption can be reduced and a service time of the fill light lamp canbe extended.

The process of controlling the power switch of the fill light lamp basedupon the automatic exposure parameter can be implemented with variousapproaches. In some embodiments, the power switch of the fill light lampcan be turned off if the automatic exposure parameter satisfies a presetcondition, and the power switch of the fill light lamp can be turned onif the automatic exposure parameter does not satisfy the presetcondition. For instance, the power switch of the fill light lamp can beturned off if the automatic exposure parameter is below a presetthreshold, and the power switch of the fill light lamp can be turned onif the automatic exposure parameter is above the preset threshold.

It will be appreciated that, the preset threshold can be a value or avalue range. The preset threshold can be set by a user. Optionally, thepreset threshold can be automatically set by the imaging system.

In some embodiments, the process of controlling the fill light lamp toprovide an automatic fill light based upon the automatic exposureparameter can comprise the following steps.

In a step, an automatic fill light parameter of a next image can becalculated based upon an automatic exposure parameter of a currentimage;

In a further step, the fill light lamp can be controlled in real-time toprovide a fill light based upon the automatic fill light parameter.

In some instances, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or an illuminationintensity of the fill light lamp.

In some instances, an illumination intensity of fill light of the nextimage can be adjusted by a preset increment if (1) the automatic filllight parameter is the illumination intensity of the fill light lamp,and (2) the automatic exposure parameter of the current image does notsatisfy a preset condition.

It will be appreciated that, the preset increment can correspond to apreset automatic exposure parameter. In some embodiments, differentpreset increments can correspond to different preset automatic exposureparameter ranges. For instance, a preset increment L1 can correspond toa preset automatic exposure parameter range A1˜A2, and a presetincrement L2 can correspond to a preset automatic exposure parameterrange A2˜A3. The preset increment L1 can be used if the automaticexposure parameter B of the current image is within the range A1˜A2, andthe preset increment L2 can be used if the automatic exposure parameterB of the current image is within the range A2˜A3.

Alternatively, different preset increments can correspond to differentindividual preset automatic exposure parameter values. For instance,preset increments L1, L2, L3 and L4 can respectively correspond topreset automatic exposure values A1, A2, A3 and A4. The preset incrementL1 can be used if the automatic exposure parameter of the current imageis A1, and the preset increment L2 can be used if the automatic exposureparameter of the current image is A2, and so forth.

The preset increments can gradually decrease with an increasing numberof consecutive adjustments of the illumination intensity of the filllight. For instance, the preset increments L1, L2 and L3 can graduallydecrease in this order. The increment L1 can be used when a firstadjustment of the illumination intensity of the fill light is performed,the increment L2 can be used when a second adjustment of theillumination intensity of the fill light is performed, and the incrementL3 can be used when a third adjustment of the illumination intensity ofthe fill light is performed.

The step b will be described in connection with various embodiments,taking consecutive frames of a video as an example.

In some embodiments, as shown in FIG. 2, the process of controlling thefill light lamp to provide the automatic fill light based upon theautomatic exposure parameter can comprise steps S103 to S105.

In step S103, a determination on whether the automatic exposureparameter satisfies a preset condition can be made.

In some embodiments, a determination on whether the automatic exposuretime and the automatic exposure gain of the image sensor are within apreset exposure time range and a preset automatic exposure gain rangecan be made. The preset exposure time range and the preset automaticexposure gain range can correspond to a high quality image captured bythe image sensor.

In step S104, a current illumination intensity can be maintained if theautomatic exposure parameter satisfies the preset condition.

In some embodiments, a current automatic exposure time and a currentautomatic exposure gain of the image sensor can be maintained if theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range.

In step S105, the illumination intensity of the fill light lamp can beadjusted if the automatic exposure parameter does not satisfy the presetcondition.

In some embodiments, a current illumination intensity of the fill lightlamp can be adjusted if the automatic exposure time and the automaticexposure gain of the image sensor are not within the preset exposuretime range and the preset automatic exposure gain range. For instance,the illumination intensity of the fill light lamp can be decreased ifthe automatic exposure time and the automatic exposure gain of the imagesensor are below the preset exposure time range and the preset automaticexposure gain range. For instance, the illumination intensity of thefill light lamp can be increased if the automatic exposure time and theautomatic exposure gain of the image sensor are above the presetexposure time range and the preset automatic exposure gain range.

In step S106, the automatic fill light can be provided by the fill lightlamp at the adjusted illumination intensity.

The steps as discussed hereinabove can be performed if a next imageframe is to be obtained.

In some embodiments, as shown in FIG. 3, the process of controlling thefill light lamp to provide an automatic fill light based upon theautomatic exposure parameter can comprise steps S203 to S210.

In step S203, a determination on whether the automatic exposureparameter satisfies a preset condition can be made.

In some embodiments, a determination on whether the automatic exposuretime and the automatic exposure gain of the image sensor are within apreset exposure time range and a preset automatic exposure gain rangecan be made. The preset exposure time range and the preset automaticexposure gain range can correspond to a high quality image captured bythe image sensor.

In step S204, a determination on whether the fill light lamp hasprovided a fill light illumination can be made if the automatic exposureparameter satisfies the preset condition.

In some embodiments, a determination on whether a fill lightillumination has been provided in obtaining the image frame can be madeif the automatic exposure time and the automatic exposure gain of theimage sensor are within the preset exposure time range and the presetautomatic exposure gain range.

In step S205, the fill light lamp can be switched off if the fill lightlamp has not provided the fill light illumination and the automaticexposure parameter satisfies the preset condition.

In some embodiments, the power switch of the fill light lamp can beswitched off if the fill light lamp has not provided fill lightillumination in obtaining the image frame by the image sensor and theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range. In this case, an illumination conditionof ambient environment of the image sensor can be satisfactory,therefore there's no need to provide the fill light illumination. Anenergy consumption can be reduced and a service time of the fill lightlamp can be extended.

In step S206, the current illumination intensity can be maintained ifthe fill light lamp has provided the fill light illumination and theautomatic exposure parameter satisfies the preset condition.

In some embodiments, the current illumination intensity of the filllight lamp can be maintained if the fill light lamp has provided filllight illumination in obtaining the image frame by the image sensor andthe automatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range. In this case, the current illuminationintensity of the fill light lamp can be appropriate, therefore there'sno need to further adjust the illumination intensity.

In step S207, a determination on whether the fill light lamp hasprovided the fill light illumination can be made if the automaticexposure parameter does not satisfy the preset condition.

In some embodiments, a determination on whether the fill lightillumination has been provided in obtaining the image frame by the imagesensor can be made and the automatic exposure time and the automaticexposure gain of the image sensor are not within the preset exposuretime range and the preset automatic exposure gain range.

In step S208, the fill light lamp can be switched on if the fill lightlamp has not provided the fill light illumination and the automaticexposure parameter does not satisfy the preset condition.

In some embodiments, the fill light lamp can be switched on to providefill light if the fill light lamp has not provided fill lightillumination in obtaining the image frame by the image sensor and theautomatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range. In this case, an illumination conditionof ambient environment of the image sensor can be unsatisfactory.

In step S209, the illumination intensity of the fill light lamp can beadjusted if the fill light lamp has provided the fill light illuminationand the automatic exposure parameter does not satisfy the presetcondition.

In some embodiments, the current illumination intensity of the filllight lamp can be adjusted if the fill light lamp has provided filllight illumination in obtaining the image frame by the image sensor andthe automatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range. In this case, the current illuminationintensity of the fill light lamp can be inappropriate for currentambient environment.

For instance, the illumination intensity of the fill light lamp can bedecreased if the automatic exposure time and the automatic exposure gainof the image sensor are below the preset exposure time range and thepreset automatic exposure gain range. For instance, the illuminationintensity of the fill light lamp can be increased if the automaticexposure time and the automatic exposure gain of the image sensor areabove the preset exposure time range and the preset automatic exposuregain range.

In step S210, the automatic fill light can be provided by the fill lightlamp at the adjusted illumination intensity.

The steps as discussed hereinabove can be performed if a next imageframe is to be obtained.

In some embodiments, as shown in FIG. 4, the process of controlling thefill light lamp to provide an automatic fill light based upon theautomatic exposure parameter can comprise steps S303 to S310.

In step S303, a determination on whether the fill light lamp hasprovided a fill light illumination can be made.

In some instances, a determination on whether the fill light lamp hasprovided the fill light illumination in obtaining the image frame by theimage sensor can be made.

In step S304, a determination on whether the automatic exposureparameter satisfies a preset condition can be made if the fill lightlamp has not provided the fill light illumination.

In some embodiments, a determination on whether the automatic exposuretime and the automatic exposure gain of the image sensor are within apreset exposure time range and a preset automatic exposure gain rangecan be made if the fill light lamp has not provided the fill lightillumination in obtaining the image frame by the image sensor.

In step S305, the fill light lamp can be switched off if the automaticexposure parameter satisfies the preset condition and the fill lightlamp has not provided the fill light illumination.

In some embodiments, the power switch of the fill light lamp can beswitched off if the fill light lamp has not provided fill lightillumination in obtaining the image frame by the image sensor and theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range. In this case, an illumination conditionof ambient environment of the image sensor can be satisfactory,therefore there's no need to provide the fill light illumination. Anenergy consumption can be reduced and a service time of the fill lightlamp can be extended.

In step S306, the fill light lamp can be switched on if the automaticexposure parameter does not satisfy the preset condition and the filllight lamp has not provided the fill light illumination.

In some embodiments, the fill light lamp can be switched on to providethe fill light illumination if the fill light lamp has not provided filllight illumination in obtaining the image frame by the image sensor andthe automatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range. In this case, an illumination conditionof ambient environment of the image sensor can be unsatisfactory.

In step S307, a determination on whether the automatic exposureparameter satisfies the preset condition can be made if the fill lightlamp has provided the fill light illumination.

In some embodiments, a determination on whether the automatic exposuretime and the automatic exposure gain of the image sensor are within thepreset exposure time range and the preset automatic exposure gain rangecan be made if the fill light illumination has been provided inobtaining the image frame by the image sensor.

In step S308, the current illumination intensity can be maintained ifthe automatic exposure parameter satisfies the preset condition and thefill light lamp has provided the fill light illumination.

In some embodiments, the current illumination intensity of the filllight lamp can be maintained if the fill light lamp has provided filllight illumination in obtaining the image frame by the image sensor andthe automatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range. In this case, the current illuminationintensity of the fill light lamp can be appropriate, therefore there'sno need to further adjust the illumination intensity.

In step S309, the illumination intensity of the fill light can beadjusted if the automatic exposure parameter does not satisfy the presetcondition and the fill light lamp has provided the fill lightillumination.

In some embodiments, the current illumination intensity of the filllight lamp can be adjusted if the fill light lamp has provided filllight illumination in obtaining the image frame by the image sensor andthe automatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range. In this case, the current illuminationintensity of the fill light lamp can be inappropriate for currentambient environment.

For instance, the illumination intensity of the fill light lamp can bedecreased if the automatic exposure time and the automatic exposure gainof the image sensor are below the preset exposure time range and thepreset automatic exposure gain range. For instance, the illuminationintensity of the fill light lamp can be increased if the automaticexposure time and the automatic exposure gain of the image sensor areabove the preset exposure time range and the preset automatic exposuregain range.

In step S310, the automatic fill light can be provided by the fill lightlamp at the adjusted illumination intensity.

The steps as discussed hereinabove can be performed if a next imageframe is to be obtained.

It will be appreciated that, a sequence of performing the process inwhich a determination on whether the fill light illumination has beenprovided is made and the process in which a determination on whether theautomatic exposure parameter satisfies the preset condition is made isnot limited to the example described in the illustrated embodiments. Insome instances, the processes can be performed simultaneously.

It will be appreciated that, the automatic exposure parameter asobtained in the process in which the automatic exposure parameter isobtained is not limited to the exposure parameter of consecutive imageframes. In some instances, the automatic exposure parameter can includethe automatic exposure parameter of any image frame in the consecutiveimage frames. Optionally, the automatic exposure parameter can includethe automatic exposure parameter of non-consecutive image frames.

The method as described hereinabove can be advantageous in variousaspects over conventional methods of providing fill light.

For instance, with the method of providing fill light as describedhereinabove, an ambient illumination condition can be detected using anexposure parameter of the imaging system, and a fill light can becontrolled based upon the automatic exposure parameter without detectinga quality of an image obtained in the presence of a tentative filllight. The computational resource consumption can be decreased and thereal time performance can be improved.

For instance, with the method of providing fill light as describedhereinabove, the automatic exposure parameter can be used as a feedbackto a fill light parameter and there's no need to modify a configurationof the imaging system. Therefore, the method of present disclosure canbe more suitable for a positioning and imaging system of an aerialvehicle than the conventional methods of providing a fill light.

Referring to FIG. 5, the disclosure provides a system of providing filllight 100 based upon the method of providing fill light as discussedhereinabove. The system of providing fill light 100 can comprise anexposure parameter acquisition module 110 and a fill light module 120.

The exposure parameter acquisition module 110 can be configured toobtain an automatic exposure parameter of an image sensor. For instance,the exposure parameter acquisition module 110 can be configured toobtain an automatic exposure parameter of consecutive image frames.

In some embodiments, the exposure parameter acquisition module 110 canbe configured to obtain an automatic exposure parameter of a currentimage of the image sensor in real-time.

The automatic exposure parameter of the image sensor can comprise anautomatic exposure time and an automatic exposure gain. In someembodiments, one of the automatic exposure time and the automaticexposure gain can be selected as a reference parameter in controlling afill light lamp. Alternatively, the automatic exposure time and theautomatic exposure gain can both be selected as reference parameters incontrolling the fill light lamp.

The exposure parameter acquisition module 110 can be provided withvarious approaches. In some embodiments, the exposure parameteracquisition module 110 can comprise an automatic exposure unit 111 andan exposure parameter acquisition unit 113. The automatic exposure unit111 can be configured to provide an automatic exposure to an imagingsystem when the image sensor captures each image frame of theconsecutive image frames. The exposure parameter acquisition unit 113can be configured to obtain an automatic exposure parameter of eachimage frame.

In some instances, a frame rate of the consecutive image frames can be10 Hz to 20 Hz. The number of frames of the consecutive image frames canbe less than 100.

In some instances, the automatic exposure parameter of each image framecan be used to control an illumination intensity of the fill light lampin obtaining a next image frame.

The fill light module 120 be configured to can control the fill lightlamp to provide an automatic fill light based upon the automaticexposure parameter. For instance, the fill light module 120 can beconfigured to control the fill light lamp to provide the automatic filllight based upon the automatic exposure parameter of each image frame.

In some embodiments, the fill light module can comprise a calculationmodule and a control module. The calculation module can be configured tocalculate an automatic fill light parameter of a next image based uponan automatic exposure parameter of a current image. The control modulecan be configured to control the fill light lamp in real-time to providethe fill light based upon the automatic fill light parameter.

In some embodiments, the system of providing fill light 100 can comprisean execution module. The execution module can direct the exposureparameter acquisition module and the fill light module to repeatedlyperform the processing until the image sensor stops obtaining images.

In some instances, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or an illuminationintensity of the fill light lamp.

In some instances, the calculation module can adjust the illuminationintensity of fill light for the next image by a preset increment if theautomatic exposure parameter of the current image does not satisfy apreset condition.

It will be appreciated that, the preset increment can correspond to apreset automatic exposure parameter. In some embodiments, differentpreset increments can correspond to different preset automatic exposureparameter ranges. For instance, a preset increment L1 can correspond toa preset automatic exposure parameter range A1˜A2, and a presetincrement L2 can correspond to a preset automatic exposure parameterrange A2˜A3. The preset increment L1 can be used if the automaticexposure parameter B of the current image is within the range A1˜A2, andthe preset increment L2 can be used if the automatic exposure parameterB of the current image is within the range A2˜A3.

Alternatively, different preset increments can correspond to differentindividual preset automatic exposure parameter values. For instance,preset increments L1, L2, L3 and L4 can respectively correspond topreset automatic exposure values A1, A2, A3 and A4. The preset incrementL1 can be used if the automatic exposure parameter of the current imageis A1, and the preset increment L2 can be used if the automatic exposureparameter of the current image is A2, and so forth.

The preset increments can gradually decrease with an increasing numberof consecutive adjustments of the illumination intensity of the filllight. For instance, the preset increments L1, L2 and L3 can graduallydecrease in this order. The increment L1 can be used when a firstadjustment of the illumination intensity of the fill light is performed,the increment L2 can be used when a second adjustment of theillumination intensity of the fill light is performed, and the incrementL3 can be used when a third adjustment of the illumination intensity ofthe fill light is performed.

When the fill light lamp is used to provide a fill light illumination, adetermination to decrease an illumination intensity of the fill lightcan be made if the automatic exposure time of the imaging system isrelatively short and the exposure gain is relatively low. Likewise, adetermination to increase the illumination intensity of the fill lightcan be made if the automatic exposure time is relatively long and theautomatic exposure gain is relatively high.

It will be appreciated that, the fill light module 120 can comprise anillumination intensity control module 121. The illumination intensitycontrol module 121 can be configured to control the illuminationintensity of the fill light lamp based upon the automatic exposureparameter, such that the illumination intensity of the fill light lampcan be rapidly adjusted based upon the automatic exposure parameter tocontrol the fill light lamp in real-time.

In some instances, the illumination intensity control module 121 can beconfigured to maintain the illumination intensity of the fill light lampif the automatic exposure parameter satisfies a preset condition, and toadjust the illumination intensity of the fill light lamp if theautomatic exposure parameter does not satisfy the preset condition.

When the fill light lamp is not used, the automatic exposure time of theimaging system can be relatively short and the exposure gain can be lowif an illumination of the external environment of the image sensor isrelatively intense. In this situation, a determination that the filllight illumination is not needed can be made automatically, and the filllight lamp can be switched off. On the other hand, the automaticexposure time and the automatic exposure gain can be significantlyincreased if the external environment of the image sensor is dim and theillumination is insufficient. In this situation, a determination thatthe fill light illumination is needed can be made automatically, and thefill light lamp can be switched on.

It will be appreciated that, the fill light module 120 can comprise apower switch control module 123. The power switch control module 123 canbe configured to control a power switch of the fill light lamp basedupon the automatic exposure parameter, such that the fill light lamp canbe timely switched off if it is not to be used. An energy consumptioncan be reduced and a service time of the fill light lamp can beextended.

In some instances, the power switch control module 123 can be configuredto turn off the power switch of the fill light lamp if the automaticexposure parameter satisfies a preset condition, and to turn on thepower switch of the fill light lamp if the automatic exposure parameterdoes not satisfy the preset condition.

The fill light module 120 can be provided with various approaches. Insome embodiments, as shown in FIG. 6, the fill light module 120 cancomprise various modules.

The fill light module 120 can comprise an exposure parameterdetermination unit 221 for determining whether the automatic exposureparameter satisfies a preset condition.

In some embodiments, the exposure parameter determination unit 221 canbe configured to determine whether the automatic exposure time and theautomatic exposure gain of the image sensor are within a preset exposuretime range and a preset automatic exposure gain range. The presetexposure time range and the preset automatic exposure gain range cancorrespond to a high quality image captured by the image sensor.

The fill light module 120 can comprise an illumination intensitymaintaining unit 223 configured to maintain a current illuminationintensity if the automatic exposure parameter satisfies a presetcondition.

In some embodiments, the illumination intensity maintaining unit 223 canbe configured to control the image sensor to maintain a currentautomatic exposure time and a current automatic exposure gain if theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range.

The fill light module 120 can comprise an illumination intensityadjustment unit 225 configured to adjust the illumination intensity ofthe fill light lamp if the automatic exposure parameter does not satisfya preset condition.

In some embodiments, the illumination intensity adjustment unit 225 canbe configured to adjust a current illumination intensity of the filllight lamp if the automatic exposure time and the automatic exposuregain of the image sensor are not within the preset exposure time rangeand the preset automatic exposure gain range. For instance, theillumination intensity of the fill light lamp can be decreased if theautomatic exposure time and the automatic exposure gain of the imagesensor are below the preset exposure time range and the preset automaticexposure gain range. For instance, the illumination intensity of thefill light lamp can be increased if the automatic exposure time and theautomatic exposure gain of the image sensor are above the presetexposure time range and the preset automatic exposure gain range.

The fill light module 120 can comprise an automatic fill light unit 227configured to control the fill light lamp to provide the automatic filllight at the adjusted illumination intensity.

In some embodiments, as shown in FIG. 7, the fill light module 120 cancomprise various units.

The fill light module 120 can comprise an exposure parameterdetermination unit 321 configured to determine whether the automaticexposure parameter satisfies a preset condition.

In some embodiments, the exposure parameter determination unit 321 canbe configured to determine whether the automatic exposure time and theautomatic exposure gain of the image sensor are within a preset exposuretime range and a preset automatic exposure gain range. The presetexposure time range and the preset automatic exposure gain range cancorrespond to a high quality image captured by the image sensor.

The fill light module 120 can comprise a first fill light illuminationdetermination unit 322 configured to determine whether the fill lightlamp has provided a fill light illumination when the automatic exposureparameter satisfies a preset condition.

In some embodiments, the first fill light illumination determinationunit 322 can be configured to determine whether the fill lightillumination has been provided in obtaining the image frame when theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range.

The fill light module 120 can comprise a fill light lamp switching-offunit 324 configured to switch off the fill light lamp if the fill lightlamp has not provided the fill light illumination and the automaticexposure parameter satisfies a preset condition.

In some embodiments, the fill light lamp switching-off unit 324 can beconfigured to switch off a power switch of the fill light lamp if thefill light lamp has not provided fill light illumination in obtainingthe image frame by the image sensor and the automatic exposure time andthe automatic exposure gain of the image sensor are within the presetexposure time range and the preset automatic exposure gain range.

The fill light module 120 can comprise an illumination intensitymaintaining unit 323 configured to maintain the current illuminationintensity if the fill light lamp has provided the fill lightillumination and the automatic exposure parameter satisfies a presetcondition.

In some embodiments, the illumination intensity maintaining unit 323 canbe configured to maintain the current illumination intensity if the filllight lamp has provided the fill light illumination in obtaining theimage frame by the image sensor and the automatic exposure time and theautomatic exposure gain of the image sensor are within the presetexposure time range and the preset automatic exposure gain range.

The fill light module 120 can comprise a second fill light illuminationdetermination unit 326 configured to determine whether the fill lightlamp has provided the fill light illumination when the automaticexposure parameter does not satisfy a preset condition.

In some embodiments, the second fill light illumination determinationunit 326 can be configured to determine whether the fill lightillumination has been provided in obtaining the image frame by the imagesensor and the automatic exposure time and the automatic exposure gainof the image sensor are not within the preset exposure time range andthe preset automatic exposure gain range.

The fill light module 120 can comprise a fill light lamp switching-onunit 328 configured to switch on the fill light lamp when the fill lightlamp has not provided the fill light illumination and the automaticexposure parameter does not satisfy a preset condition.

In some embodiments, the fill light lamp switching-on unit 328 can beconfigured to switch on the fill light lamp to provide the fill lightillumination if the fill light lamp has not provided the fill lightillumination in obtaining the image frame by the image sensor and theautomatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range.

The fill light module 120 can comprise an illumination intensityadjustment unit 325 configured to adjust the illumination intensity ofthe fill light if the fill light lamp has provided the fill lightillumination and the automatic exposure parameter does not satisfy apreset condition.

In some embodiments, the illumination intensity adjustment unit 325 canbe configured to adjust a current illumination intensity of the filllight lamp if the fill light lamp has provided the fill lightillumination in obtaining the image frame by the image sensor and theautomatic exposure time and the automatic exposure gain of the imagesensor are not within the preset exposure time range and the presetautomatic exposure gain range.

For instance, the illumination intensity of the fill light lamp can bedecreased if the automatic exposure time and the automatic exposure gainof the image sensor are below the preset exposure time range and thepreset automatic exposure gain range. For instance, the illuminationintensity of the fill light lamp can be increased if the automaticexposure time and the automatic exposure gain of the image sensor areabove the preset exposure time range and the preset automatic exposuregain range.

The fill light module 120 can comprise an automatic fill light unit 327configured to control the fill light lamp to provide the automatic filllight at the adjusted illumination intensity.

In some embodiments, as shown in FIG. 8, the fill light module 120 cancomprise various units.

The fill light module 120 can comprise a fill light illuminationdetermination unit 422 configured to determine whether the fill lightlamp has provided the fill light illumination.

In some instances, the fill light illumination determination unit 422can be configured to determine whether the fill light lamp has providedthe fill light illumination in obtaining the image frame by the imagesensor.

The fill light module 120 can comprise a first exposure parameterdetermination unit 421 configured to determine whether the automaticexposure parameter satisfies a preset condition in the case that thefill light lamp has not provided the fill light illumination.

In some embodiments, the first exposure parameter determination unit 421can be configured to determine whether the automatic exposure time andthe automatic exposure gain of the image sensor are within the presetexposure time range and the preset automatic exposure gain range if thefill light lamp has not provided the fill light illumination inobtaining the image frame by the image sensor.

The fill light module 120 can comprise a fill light lamp switching-offunit 424 configured to switch off the fill light lamp if the automaticexposure parameter satisfies a preset condition and the fill light lamphas not provided the fill light illumination.

In some embodiments, the fill light lamp switching-off unit 424 can beconfigured to switch off the power switch of the fill light lamp if theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range and the fill light illumination has notbeen provided in obtaining the image by the image sensor.

The fill light module 120 can comprise a fill light lamp switching-onunit 428 configured to switch on the fill light lamp if the automaticexposure parameter does not satisfy a preset condition and the filllight lamp has not provided the fill light illumination.

In some embodiments, the fill light lamp switching-on unit 428 can beconfigured to switch on the fill light lamp to provide the fill lightillumination if the automatic exposure time and the automatic exposuregain of the image sensor are not within the preset exposure time rangeand the preset automatic exposure gain range and the fill lightillumination has not been provided in obtaining the image frame by theimage sensor.

The fill light module 120 can comprise a second exposure parameterdetermination unit 426 configured to determine whether the automaticexposure parameter satisfies a preset condition if the fill light lamphas provided the fill light illumination.

In some embodiments, the second exposure parameter determination unit426 can be configured to determine whether the automatic exposure timeand the automatic exposure gain of the image sensor are within thepreset exposure time range and the preset automatic exposure gain rangeif the fill light illumination has been provided in obtaining the imageframe by the image sensor.

The fill light module 120 can comprise an illumination intensitymaintaining unit 423 configured to maintain a current illuminationintensity if the automatic exposure parameter satisfies a presetcondition and the fill light lamp has provided the fill lightillumination.

In some embodiments, the illumination intensity maintaining unit 423 canbe configured to maintain the current illumination intensity if theautomatic exposure time and the automatic exposure gain of the imagesensor are within the preset exposure time range and the presetautomatic exposure gain range and the fill light illumination has beenprovided in obtaining the image frame by the image sensor.

The fill light module 120 can comprise an illumination intensityadjustment unit 425 configured to adjust the illumination intensity ofthe fill light if the automatic exposure parameter does not satisfy apreset condition and the fill light lamp has provided the fill lightillumination.

In some embodiments, the illumination intensity adjustment unit 425 canbe configured to adjust the current illumination intensity of the filllight lamp if the automatic exposure time and the automatic exposuregain of the image sensor are not within the preset exposure time rangeand the preset automatic exposure gain range and the fill lightillumination has been provided in obtaining the image frame by the imagesensor.

For instance, the illumination intensity of the fill light lamp can bedecreased if the automatic exposure time and the automatic exposure gainof the image sensor are below the preset exposure time range and thepreset automatic exposure gain range. For instance, the illuminationintensity of the fill light lamp can be increased if the automaticexposure time and the automatic exposure gain of the image sensor areabove the preset exposure time range and the preset automatic exposuregain range.

The fill light module 120 can comprise an automatic fill light unit 427configured to control the fill light lamp to provide the automatic filllight at the adjusted illumination intensity.

Referring to FIGS. 1, 2 and 9, based upon the method of providing filllight as discussed hereinabove, embodiments of the disclosure alsoprovide an imaging device embodying the method of providing fill light.

An imaging device 200 in accordance with embodiments of the disclosurecan comprise an image sensor 210, a fill light lamp 220 and a controller230.

The image sensor 210 can be configured to capture images. For example,the image sensor 210 can be a charge coupled device (CCD) image sensor,or a complementary metal oxide semiconductor (CMOS) image sensor.

The fill light lamp 220 can be configured to provide a fill light for anambient environment of the image sensor 210. The fill light lamp 220 canbe a natural light LED or an infrared LED.

The controller 230 can be configured to obtain an exposure parameter ofthe image sensor 210 and control the fill light lamp 220 to provide anautomatic fill light based upon the automatic exposure parameter.

In some embodiments, the controller 230 can be configured to obtain anautomatic exposure parameter of a current image of the image sensor 210in real-time.

In some instances, the controller 230 can be configured to calculate anautomatic fill light parameter of a next image based upon the automaticexposure parameter of the current image, and control the fill light lamp220 to provide the fill light based upon the automatic fill lightparameter in real-time. In some embodiments, the automatic fill lightparameter can comprise at least one of a switch status of the fill lightlamp or an illumination intensity of the fill light lamp.

In some instances, the controller 230 can be configured to adjust theillumination intensity of the fill light of the next image by a presetincrement if the automatic exposure parameter of the current image doesnot satisfy a preset condition.

In some embodiments, the fill light module can comprise a calculationmodule and a control module. The calculation module can be configured tocalculate the automatic fill light parameter of the next image basedupon the automatic exposure parameter of the current image. The controlmodule can be configured to control the fill light lamp in real-time toprovide the fill light based upon the automatic fill light parameter.

In some instances, the system of providing fill light 100 can comprisean execution module. The execution module can direct the exposureparameter acquisition module and the fill light module to repeatedlyperform the processing until the image sensor stops obtaining images.

In some instances, the automatic fill light parameter can comprise atleast one of a switch status of the fill light lamp or an illuminationintensity of the fill light lamp.

In some instances, the calculation module can adjust the illuminationintensity of the fill light for the next image by a preset increment ifthe automatic exposure parameter of the current image does not satisfy apreset condition.

It will be appreciated that, the preset increment can correspond to apreset automatic exposure parameter. In some embodiments, differentpreset increments can correspond to different preset automatic exposureparameter ranges. For instance, a preset increment L1 can correspond toa preset automatic exposure parameter range A1˜A2, and a presetincrement L2 can correspond to a preset automatic exposure parameterrange A2˜A3. The preset increment L1 can be used if the automaticexposure parameter B of the current image is within the range A1˜A2, andthe preset increment L2 can be used if the automatic exposure parameterB of the current image is within the range A2˜A3.

Alternatively, different preset increments can correspond to differentindividual preset automatic exposure parameter values. For instance,preset increments L1, L2, L3 and L4 can respectively correspond topreset automatic exposure values A1, A2, A3 and A4. The preset incrementL1 can be used if the automatic exposure parameter of the current imageis A1, and the preset increment L2 can be used if the automatic exposureparameter of the current image is A2, and so forth.

The preset increments can gradually decrease with an increasing numberof consecutive adjustments of the illumination intensity of the filllight. For instance, the preset increments L1, L2 and L3 can graduallydecrease in this order. The increment L1 can be used when a firstadjustment of the illumination intensity of the fill light is performed,the increment L2 can be used when a second adjustment of theillumination intensity of the fill light is performed, and the incrementL3 can be used when a third adjustment of the illumination intensity ofthe fill light is performed.

The automatic exposure parameter of the image sensor 210 can comprise anautomatic exposure time and an automatic exposure gain. In someembodiments, one of the automatic exposure time and the automaticexposure gain can be selected as a reference parameter in controllingthe fill light lamp 220. Alternatively, the automatic exposure time andthe automatic exposure gain can both be selected as reference parametersin controlling the fill light lamp 220.

In some embodiments, the controller 230 can be configured to control apower switch of the fill light lamp 220 based upon the automaticexposure parameter. For instance, the controller 230 can be configuredto turn off the power switch of the fill light lamp 220 if the automaticexposure parameter satisfies a preset condition. For instance, thecontroller 230 can be configured to turn on the power switch of the filllight lamp 220 if the automatic exposure parameter does not satisfy thepreset condition.

In some embodiments, the controller 230 can be configured to control theillumination intensity of the fill light lamp 220 based upon theautomatic exposure parameter. For instance, the controller 230 can beconfigured to control the fill light lamp 220 to maintain anillumination intensity if the automatic exposure parameter satisfies apreset condition. For instance, the controller 230 can be configured tocontrol the fill light lamp 220 to adjust an illumination intensity ifthe automatic exposure parameter does not satisfy the preset condition.In some instances, the controller 230 can be configured to control thefill light lamp 220 to increase an illumination intensity if theautomatic exposure parameter is above a preset exposure parameter range.Optionally, the controller 230 can be configured to control the filllight lamp 220 to decrease an illumination intensity if the automaticexposure parameter is below the preset exposure parameter range.

In some embodiments, the image sensor 210 can be configured to captureconsecutive image frames. In this circumstance, the controller 230 canbe configured to obtain an automatic exposure parameter of theconsecutive image frames. The controller 230 can be configured tocontrol the fill light lamp 220 to provide the automatic fill lightbased upon an automatic exposure parameter of each image frame.

In some embodiments, a frame rate of consecutive image frames can be 10Hz to 20 Hz. The number of frames of the consecutive image frames can beless than 100.

The disclosure also provides a movable object having the imaging device200.

Referring to FIG. 10, a movable object 10 in accordance with embodimentsof the disclosure can comprise the imaging device 200 and a processor300. The processor 300 can be configured to process images obtained bythe imaging device 200.

In some embodiments, the movable object can be an unmanned aerialvehicle or a robot.

It will be appreciated that, the device and method as disclosed in theembodiments of the disclosure can be provided with other approaches. Forexample, the device embodiments as described hereinabove are merelyillustrative. For example, a division of the modules and units is merelya logical and functional division, and various other divisions can bepossible. For example, various units or components can be combined orintegrated into another system, or certain features can be omitted ornot performed. Moreover, a coupling, a direct coupling or acommunication connection as illustrated or discussed in the disclosurecan be an indirect coupling or a communication connection via interface,means or units, and can be an electrical coupling, a mechanical couplingor a coupling in other forms.

The units illustrated as separate parts may or may not be physicallyseparated. The parts shown as units may or may not be physical units.For example, the parts can be provided at the same location ordistributed over a plurality of network units. All or part of the unitscan be selected to implement the embodiments of the disclosure accordingto actual requirements.

Various functional units in the embodiments of the disclosure may beintegrated into a processing unit or may be provided as physicallyseparate units. Two or more units can be integrated into one singleunit. The integrated units can be implemented either in hardware or insoftware.

The integrated units can be stored in a computer readable storage mediumwhen implemented in form of software functional units and sold or usedas a standalone product. All or part of the technical solution of thedisclosure can be embodied in the form of software product stored in astorage medium comprising a number of instructions for causing acomputer processor to perform the entire or part of a method consistentwith embodiments of the disclosure, such as one of the above-describedexemplary methods. The storage medium can comprise a flask disk, aremovable hard drive, a read only memory (ROM), a random access memory(RAM), a magnet disk, an optical disk, or other media capable of storingprogram code.

The above description merely illustrates some embodiments of thedisclosure and is not intended to limit the scope of the disclosure. Anyequivalent changes in structures or processes made in light of thespecification and the drawings, and their direct or indirect applicationin other related technical fields, should all be covered within thescope of the present disclosure.

What is claimed is:
 1. An imaging device, comprising: an image sensor; afill light lamp; and a controller configured to: obtain an automaticexposure parameter of the image sensor; and control an illuminationintensity of the fill light lamp based on the automatic exposureparameter, comprising adjusting the illumination intensity to a presetvalue when the automatic exposure parameter falls within an automaticexposure parameter range.
 2. The imaging device of claim 1, wherein thepreset value is a first preset value, the automatic exposure parameterrange is a first automatic exposure parameter range, and controlling theillumination intensity of the fill light lamp further comprises:adjusting the illumination intensity to a second preset value when theautomatic exposure parameter falls within a second automatic exposureparameter range.
 3. The imaging device of claim 2, wherein adjusting theillumination intensity further comprises: increasing or decreasing theillumination intensity by a first preset increment when the automaticexposure parameter falls within the first automatic exposure parameterrange, and increasing or decreasing the illumination intensity by asecond preset increment when the automatic exposure parameter fallswithin the second automatic exposure parameter range.
 4. The imagingdevice of claim 1, wherein the controller is further configured to:maintain the illumination intensity of the fill light lamp if theautomatic exposure parameter satisfies a preset condition.
 5. Theimaging device of claim 1, wherein the controller is configured tocontrol the illumination intensity of the fill light lamp if theautomatic exposure parameter does not satisfy a preset condition.
 6. Theimaging device of claim 1, wherein adjusting the illumination intensityfurther comprises: increasing or decreasing the illumination intensityby a preset increment to the preset value.
 7. The imaging device ofclaim 1, wherein the automatic exposure parameter is an automaticexposure time or an automatic exposure gain.
 8. The imaging device ofclaim 1, wherein the imaging device is coupled to a movable object.
 9. Asystem, comprising: a processor; and a storage medium storinginstructions that, when executed by the processor, cause the processorto: obtain an automatic exposure parameter of an image sensor; andcontrol an illumination intensity of a fill light lamp based on theautomatic exposure parameter, comprising adjusting the illuminationintensity to a preset value when the automatic exposure parameter fallswithin an automatic exposure parameter range.
 10. The system of claim 9,wherein the preset value is a first preset value, the automatic exposureparameter range is a first automatic exposure parameter range, andcontrolling the illumination intensity of the fill light lamp furthercomprises: adjusting the illumination intensity to a second preset valuewhen the automatic exposure parameter falls within a second automaticexposure parameter range.
 11. The system of claim 10, wherein adjustingthe illumination intensity further comprises: increasing or decreasingthe illumination intensity by a first preset increment when theautomatic exposure parameter falls within the first automatic exposureparameter range, and increasing or decreasing the illumination intensityby a second preset increment when the automatic exposure parameter fallswithin the second automatic exposure parameter range.
 12. The system ofclaim 9, wherein the storage medium storing instructions that, whenexecuted by the processor, further cause the processor to: maintain theillumination intensity of the fill light lamp if the automatic exposureparameter satisfies a preset condition.
 13. The system of claim 9,wherein adjusting the illumination intensity further comprises:increasing or decreasing the illumination intensity by a presetincrement to the preset value.
 14. The system of claim 9, wherein theautomatic exposure parameter is an automatic exposure time or anautomatic exposure gain.
 15. A method, comprising: obtaining anautomatic exposure parameter of an image sensor; and controlling anillumination intensity of a fill light lamp based on the automaticexposure parameter, comprising adjusting the illumination intensity to apreset value when the automatic exposure parameter falls within anautomatic exposure parameter range.
 16. The method of claim 15, whereinthe preset value is a first preset value, the automatic exposureparameter range is a first automatic exposure parameter range, andcontrolling the illumination intensity of the fill light lamp furthercomprises: adjusting the illumination intensity to a second preset valuewhen the automatic exposure parameter falls within a second automaticexposure parameter range.
 17. The method of claim 16, wherein adjustingthe illumination intensity further comprises: increasing or decreasingthe illumination intensity by a first preset increment when theautomatic exposure parameter falls within the first automatic exposureparameter range, and increasing or decreasing the illumination intensityby a second preset increment when the automatic exposure parameter fallswithin the second automatic exposure parameter range.
 18. The method ofclaim 15, further comprising: maintaining the illumination intensity ofthe fill light lamp if the automatic exposure parameter satisfies apreset condition.
 19. The method of claim 15, wherein adjusting theillumination intensity further comprises: increasing or decreasing theillumination intensity by a preset increment to the preset value. 20.The method of claim 15, wherein the automatic exposure parameter is anautomatic exposure time or an automatic exposure gain.